JP2004160630A - Robot device and controlling method of the same - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a robot device which accurately checks and identifies information on an object existent outside which is hardly detected by a camera or various sensors. <P>SOLUTION: The robot device which autonomously acts and is controlled in accordance with input information from outside has an RFID reader section 19 which is a radio tag reading means for reading data stored in the RFID tag from a radio tag provided for an object existent outside, a so-called FRID (Radio Frequency Identification) tag and a controller 10 which controls the actions in accordance with status identification information corresponding to object related information related to the object in response to the data read out by the RFID reader section 19. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a robot apparatus and a control method therefor, for example, a robot apparatus that causes an action to appear autonomously and controls the action according to input information from the outside, and control of such a robot apparatus. It is about the method.
[0002]
[Prior art]
A mechanical device that performs a motion similar to that of a human or animal using, for example, an electric or magnetic action is referred to as a “robot”. Robots have begun to spread in Japan since the late 1960s, but most of them were industrial robots such as manipulators and transfer robots for the purpose of automation and unmanned production work in factories. there were.
[0003]
A stationary robot, such as an arm-type robot, which is installed and used in a specific place, operates only in a fixed and local work space such as assembling and sorting parts. On the other hand, the mobile robot has a work space that is not limited, and can move freely on a predetermined route or on a non-route to perform a predetermined or arbitrary human work, or perform a human or dog operation. Alternatively, a wide variety of services that replace other living things can be provided. Among them, legged mobile robots are unstable and pose control and walking control are more difficult than crawler or tired mobile robots.However, climbing up and down stairs and ladders, climbing over obstacles, and It is excellent in that a flexible walking / running motion that cannot be distinguished can be realized.
[0004]
Recently, the so-called pet-type robot that simulates the body mechanism and operation of a four-legged walking animal such as a dog or cat, or the body mechanism and movement of an animal that walks two-legged upright such as a human. Research and development on legged mobile robots, such as designed “humanoid robots”, has been progressing, and expectations for practical use are increasing.
[0005]
For example, a pet-type robot, which is a robot device imitating an animal, has a shape similar to a dog or a cat bred in a general household, and is used by a user (owner) to “slap” or “stroke”. Act autonomously according to the approach and surrounding environment. For example, as an autonomous action, an action such as “barking” or “sleeping” is performed in the same manner as an actual animal.
[0006]
By the way, if the robot device can be closer to the behavior of an actual animal, the biological feeling of the robot device will further increase, and the user (owner) will feel a greater sense of familiarity and satisfaction with the robot device. Thereby, the amusement of the robot device is improved.
[0007]
Such a robot device has an actuator having a predetermined degree of freedom and a mechanical unit in which a sensor or the like for detecting a predetermined physical quantity is arranged at a predetermined position, and is controlled by a control unit using a microcomputer. It is configured to perform a predetermined operation on information (for example, see Patent Document 1).
[0008]
[Patent Document 1]
JP 2001-154679 A
[0009]
[Problems to be solved by the invention]
By the way, in the robot device described above, as a method of detecting information given from outside,
(1) a method of detecting voice data obtained from a microphone or the like and using a voice recognition result of the voice data;
(2) a method of detecting image data obtained from a CCD camera or the like and using an image recognition result of the image data;
(3) a method of detecting pressure received by physical action by a touch sensor or the like and using the selection result;
(4) A method of detecting an environmental condition around a robot device using a temperature sensor, a humidity sensor, an odor sensor, or the like, and using the detection result
Etc. are known.
[0010]
However, in such an information detection method based on voice, image, pressure, and environmental conditions, when there are a plurality of different objects having similar surface conditions or shapes around the robot device, it is difficult to identify the objects. is there. In general, for object recognition, a method of detecting image data and using the image recognition result is the most influential method. However, in order to detect image data, brightness is required and the external environment is dark. And effective recognition cannot be performed.
[0011]
For example, in a dark environment such as at night, the amount of information of the image data obtained from the CCD camera is insufficient, and there is a disadvantage that an accurate and detailed image recognition result cannot be obtained. As a result, in a dark environment, for example, when there is a wall or stairs, the robot device may collide with the wall or fall off the stairs.
[0012]
Further, in the conventional robot device, since it is not possible to accurately identify surrounding creatures and objects, the living creatures need to communicate with surrounding creatures (humans, animals, etc.) and objects (other robot devices, etc.) at a high level. It was difficult to play as building relationships (family relationships, blood relationships, master-slave relationships, etc.).
[0013]
For example, if a pet is a breeding dog or cat, the pet can distinguish his or her owner from other humans, and the owner and the pet recognize each other's master-slave relationship and respond to the master-slave relationship. It is possible to act. However, in the conventional robot apparatus, when there are a plurality of persons similar to the owner, it is difficult to identify the owner and other humans, and it is difficult to act and operate to establish a master-slave relationship with the owner. .
[0014]
Therefore, the present invention has been proposed in view of such circumstances, microphones, cameras and various sensors can confirm the information of the object that was difficult to be detected and can identify the object, It is an object of the present invention to provide a robot apparatus capable of effectively performing object recognition and external state recognition even when the external environment is dark, and a control method thereof. In addition, the present invention provides a method in which the robot device accurately identifies surrounding creatures, objects, and the like. It is an object of the present invention to provide a robot device and a control system thereof that enable the robot device to operate so as to be constructed between the robot devices.
[0015]
[Means for Solving the Problems]
A robot device according to the present invention is a robot device that causes an action to appear autonomously and is controlled in accordance with input information from the outside, in order to solve the above-described problem, and the robot apparatus exists outside. From a so-called RFID (Radio Frequency Identification) tag provided on an object (an organism such as a human or an animal, an object such as a ball, a desk, a wall, a step portion, or another robot device), the RFID tag RFID tag reading means (RFID reader) for reading data stored in the RFID tag, and state recognition information corresponding to target related information which is information related to the target corresponding to the data read by the wireless tag reading means. And control means for controlling the above behavior.
[0016]
Here, the storage device includes a storage unit in which a table in which the data read by the wireless tag reading unit and the target related information, which is information on the external target, are stored, and the control unit includes the wireless tag reading unit. Preferably, the action is controlled based on state recognition information corresponding to the target related information read from the storage means in association with the data read by the means.
[0017]
Alternatively, the state recognition information, which is information on the external object, is recorded in the wireless tag, and the wireless tag reading unit reads the object-related information from data stored in the wireless tag, and It is preferable that the control means controls the behavior based on state recognition information corresponding to the target related information read by the wireless tag reading means.
[0018]
Further, the object-related information, which is information on the external object, includes action information on an action of the robot apparatus and an operation method, and the action information includes stop, retreat, forward, right turn, left turn, back lean, jump, and skip. , Prone, squatting, upright, handstand, supine, inversion, rotation, change of facial expression, change of tail, change of limb, and the control means includes the action information included in the target-related information. On the basis of the above.
[0019]
The object-related information, which is information on the external object, includes environmental information on an external environment that regulates the behavior and operation of the robot device. The environmental information includes stairs, floors, walls, steps, holes, and columns. , Corner, entrance, living room, dining room, Japanese-style room, western-style room, bathroom, window, aisle, living room, room position information, and the control means is the environmental information contained in the object-related information. On the basis of the above.
[0020]
The object-related information, which is information on the external object, includes relation information on a relationship that the robot device builds with the external object, and the relation information includes a family relationship, a blood relationship, a friend relationship, a master-slave relationship, At least one of a regional relationship, a sports member, a capitalist / worker relationship, a buying / selling relationship, a romance relationship, and a customer relationship, and the control means is configured to perform the control based on the relationship information included in the target related information. Robot device is grandfather, grandmother, father, mother, brother, sister, brother, sister, friend, neighbor, cousin, uncle, grandmother, alumni, teacher, student, teammate, rival, enemy, relatives, stranger, acquaintance, master , Servant, servant, pet, guide dog, woman, male, lover, boy, girl, adult, child, baby, old man, adolescent, married, unmarried, widow, volunteer, nurse, nurse, doctor At least one of a guide, waitress, waiter, stewardess, attendant, station staff, traffic officer, clerk, customer, seller, security guard, police, patrol, firefighter, guardman, salesman, cleaner, entertainer. Controlling actions to perform them is an example.
[0021]
In addition, the robot apparatus according to the present invention includes: an expression unit that expresses an emotion by the action; a driving unit that drives the expression unit; data read by the wireless tag reading unit; Storage means for recording a table associated with the related information), wherein the control means associates the data read by the wireless tag reading means with the state corresponding to the target related information read from the storage means. The driving means is controlled based on the recognition information.
[0022]
The data read by the wireless tag reading means (RFID reader) is transmitted to the control means, and the control means refers to the table based on the data from the wireless tag reading means and associates the target-related information with the data. Is read from the storage means. The control unit controls the driving unit based on the state recognition information corresponding to the target-related information read from the storage unit, and drives the expression unit.
[0023]
Examples of the expression means include a movable part imitating an animal's limbs, an acoustic output by a speaker or the like, or a light emitting means by a light emitting diode or the like. The expression means may be a combination of a plurality of types of expression parts, and the control means can control the driving of the plurality of types of expression parts based on the target-related information read from the storage means. .
[0024]
Based on the state recognition information corresponding to the target-related information, the appearing behavior of the robot may include at least an instinct element or an emotion element.
[0025]
Here, the instinct factors are fatigue, heat or temperature, pain, appetite or hunger, dryness, thirst, affection, curiosity, At least one of elimination or sexual, wherein the emotional component is happiness, sadness, anger, surprise, disgust, fear (Fear), frustration, boredom, sleep (somnolence), sociability (gregariousness), patience, tension (tense), relaxed (relaxed), alertness, guilt, It may be at least one of spite, loyalty, submission, or jealousy.
[0026]
The external appearance of the robot device has an external appearance imitating an animal, and the wireless tag reading means is provided, for example, on the face of the animal.
[0027]
The robot device includes a contact detection unit that detects a contact such as a touch sensor, and a detection result of the contact detection unit is transmitted to the control unit. It is also possible to cause the operation of the wireless tag reading means to be executed for a time. Further, for example, there is provided optical detection means for optically detecting the presence or absence or state of an object, such as image recognition by a camera or an infrared sensor, and the detection result by the optical detection means is transmitted to the control means. When the means detects the presence or absence or the state of the object based on the optical detection result, the operation of the wireless tag reading means can be executed for a certain period of time.
[0028]
Further, a control method for a robot apparatus according to the present invention is a control method for a robot apparatus in which an action is caused to appear autonomously and the action is controlled in accordance with input information from the outside. A wireless tag reading step of reading data stored in the wireless tag from the wireless tag provided in the wireless tag, and target related information corresponding to the target corresponding to the data read in the wireless tag reading step. And controlling the behavior based on the state recognition information to be performed.
[0029]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments to which the present invention is applied will be described with reference to the drawings.
[0030]
FIG. 1 is a perspective view illustrating an example of an external configuration of a robot apparatus according to an embodiment of the present invention, and FIG. 2 is a block diagram illustrating an example of an electrical configuration thereof.
[0031]
This embodiment is an autonomous robot device that autonomously acts according to a surrounding environment (external factors) and an internal state (internal factors). As a specific example, a "dog" is imitated. Although a so-called pet robot having a shape is shown, it is a matter of course that the present invention can be applied to other animal shapes, biped walking robots imitating humans, and the like.
[0032]
In FIG. 1, a robot unit 1 has leg units 3A, 3B, 3C, and 3D connected to the front, rear, left, and right sides of a body unit 2, respectively, and a head unit at a front end and a rear end of the body unit 2, respectively. The unit 4 and the tail unit 5 are connected to each other. In the tail unit 5, the tail 5A is drawn out from a base provided on the upper surface of the body unit 2 so as to bend or swing freely with two degrees of freedom.
[0033]
As shown in FIG. 2, the body unit 2 houses a controller 10 for controlling the entire robot, a battery 11 as a power source of the robot, and an internal sensor unit 14 including a battery sensor 12 and a heat sensor 13. ing.
[0034]
The head unit 4 includes a microphone (microphone) 15 corresponding to “ears” for collecting external sounds, and a CCD (Charge Coupled Device) camera 16 corresponding to “eyes” for visually detecting an external situation. , A touch sensor 17 corresponding to a tactile sense for detecting external pressure and the like, a speaker 18 corresponding to a “mouth” for outputting a voice and the like, and information (ID data etc.) of an RFID tag (wireless tag) provided on an external object. ) Are disposed at predetermined positions.
[0035]
Here, the RFID (Radio Frequency Identification) is a non-contact type automatic recognition technology, and reads information from a medium such as a tag in which an IC and a small antenna are incorporated through a radio wave or the like. Tags (tags) serving as media are called RFID tags, wireless tags, IC tags, and the like, and have various shapes such as a card shape, a label shape, and a microchip shape. RFID identification technology is not only expected to embed an RFID tag in all products to manage product information as an alternative to barcodes, but also to control the opening and closing of gates and doors, to control passage, and to manage parcels and luggage. Various utilization forms such as delivery management have been proposed. The RFID reader section 19 is for reading data (such as ID data) stored in such an RFID tag (wireless tag). Note that the information transmission method of the RFID system includes an electromagnetic induction method, an electromagnetic coupling method, a microwave method, an electrostatic coupling method, an optical method, and the like. Of course, an information reading means may be used, a plurality of methods may be used, and a reader / writer having a writing function may be used.
[0036]
Joint portions of the leg units 3A to 3D, connecting portions of the leg units 3A to 3D and the body unit 2, connecting portions of the head unit 4 and the body unit 2, and tail units 5 and the body unit. As shown in FIG. 2, actuators 3AA ₁ To 3AA _K , 3BA ₁ Or 3BA _K , 3CA ₁ To 3CA _K , 3DA ₁ Or 3DA _K , 4A ₁ To 4A _L , 5A ₁ And 5A ₂ Is provided, so that each connecting portion can rotate with a predetermined degree of freedom.
[0037]
The microphone 15 in the head unit 4 collects surrounding sounds (sounds) including utterances from the user, and sends out the obtained sound signals to the controller 10. The CCD camera 16 captures an image of the surroundings and sends the obtained image signal to the controller 10. The RFID reader unit 19 reads information (ID data or the like) recorded on the RFID tag from an RFID tag provided on a surrounding object by non-contact or contact, and sends the read signal to the controller 10 as an RFID signal. Send out.
[0038]
The touch sensor 17 is provided, for example, on the upper part of the head unit 4 and detects a pressure received by a physical action such as “stroking” or “slapping” from the user, and uses the detection result as a pressure detection signal. Send it to the controller 10.
[0039]
The battery sensor 12 in the body unit 2 detects the remaining amount of the battery 11 and sends the detection result to the controller 10 as a remaining battery amount detection signal. The heat sensor 13 detects the heat inside the robot and sends the detection result to the controller 10 as a heat detection signal.
[0040]
The controller 10 includes a CPU (Central Processing Unit) 10A, a memory 10B, and the like. The CPU 10A performs various processes by executing a control program stored in the memory 10B.
[0041]
That is, the controller 10 includes a microphone 15, a CCD camera 16, a touch sensor 17, an RFID reader 19, a battery sensor 12, a voice signal, a pressure detection signal, an RFID signal, and a battery remaining amount detection signal supplied from the heat sensor 13. Based on the signal and the heat detection signal, it is determined whether or not there is a surrounding situation, a command from the user, an action from the user, and the like.
[0042]
Further, the controller 10 determines a subsequent action based on the determination result and the like, and based on the determination result, the actuator 3AA ₁ To 3AA _K , 3BA ₁ Or 3BA _K , 3CA ₁ To 3CA _K , 3DA ₁ Or 3DA _K , 4A ₁ To 4A _L , 5A ₁ And 5A ₂ Among them, the head unit 4 can be swung up and down, left and right, the tail unit 5 can be moved, and the leg units 3A to 3D can be driven to make the robot walk. To perform the action.
[0043]
Further, the controller 10 generates a synthesized sound as necessary, and supplies the synthesized sound to the speaker 18 to output the synthesized sound, or turns on / off an LED (Light Emitting Diode) (not shown) provided at the position of the “eye” of the robot. Or make it blink.
[0044]
Further, the controller 10 may control the reading operation of the RFID reader unit 19 based on a sound signal, an image signal, a pressure detection signal, and the like from the microphone 15, the CCD camera 16, the touch sensor 17, and the like. . For example, the controller 10 executes the operation of the RFID reader unit 19 for a certain period of time when detecting a contact based on a detection result from a contact detection unit that detects a contact such as the touch sensor 17. When the controller 10 detects the presence / absence or state of an object based on an optical detection result from an optical detection unit that optically detects the presence / absence or state of an object such as a CCD camera 16 or an infrared sensor, the controller 10 performs a predetermined operation During the time, the operation of the RFID reader unit 19 is executed.
[0045]
As described above, the robot can take an autonomous action based on the surrounding situation and the like.
[0046]
Next, FIG. 3 shows an example of a functional configuration of the controller 10 of FIG. Note that the functional configuration illustrated in FIG. 3 is realized by the CPU 10A executing a control program stored in the memory 10B.
[0047]
The controller 10 includes a sensor input processing unit 50 that recognizes a specific external state, an emotion / instinct model unit 51 that accumulates recognition results and the like of the sensor input processing unit 50 and expresses an emotion and an instinct state, and a sensor input processing unit. 50, an action determining mechanism 52 for determining a subsequent action based on the recognition result, etc., a posture transition mechanism 53 for actually causing the robot to perform an action based on the determination result of the action determining mechanism 52, and each actuator 3AA. ₁ To 5A ₁ And 5A ₂ , A voice synthesizing unit 55 that generates a synthesized sound, and a sound processing unit 56 that controls the output of the voice synthesizing unit 55.
[0048]
The sensor input processing unit 50, based on a voice signal, an image signal, a pressure detection signal, an RFID signal, and the like given from the microphone 15, the CCD camera 16, the touch sensor 17, the RFID reader unit 19, and the like, It recognizes a specific action from the user, an instruction from the user, and the like, and notifies the emotion / instinct model unit 51 and the action determination mechanism unit 52 of state recognition information representing the recognition result.
[0049]
That is, the sensor input processing unit 50 includes a voice recognition unit 50A, and the voice recognition unit 50A performs voice recognition using a voice signal given from the microphone 15 in accordance with control from the action determination mechanism unit 52. Do. Then, the voice recognition unit 50A uses the emotion / instinct model unit 51 and the action determination as the state recognition information, for example, commands such as “walk”, “down”, “chase the ball” and the like as the voice recognition result. Notify the mechanism unit 52.
[0050]
Further, the sensor input processing unit 50 has an image recognition unit 50B, and the image recognition unit 50B performs an image recognition process using an image signal given from the CCD camera 16. Then, when the image recognition unit 50B detects, for example, a “red round object” or a “plane that is perpendicular to the ground and equal to or more than a predetermined height” as a result of the processing, the “ball is present” An image recognition result such as “there is a wall” is notified to the emotion / instinct model unit 51 and the action determination mechanism unit 52 as state recognition information.
[0051]
Further, the sensor input processing unit 50 has a pressure processing unit 50C, and the pressure processing unit 50C processes a pressure detection signal given from the touch sensor 17. Then, as a result of the processing, the pressure processing unit 50C, when detecting a pressure that is equal to or more than a predetermined threshold value and for a short period of time, recognizes that the pressure processing unit 50C has been struck (struck). When a long-time pressure is detected, it is recognized as “patched (complained)”, and the recognition result is notified to the emotion / instinct model unit 51 and the action determination mechanism unit 52 as state recognition information. I do.
[0052]
The sensor input processing unit 50 has an environment recognizing unit 50D. The environment recognizing unit 50D uses a robot using an audio signal given from the microphone 15 and an image signal given from the CCD camera 16. For example, it recognizes the distance from the robot to the user as an environment, and outputs the recognition result to the acoustic processing unit 56 as state recognition information.
[0053]
Further, the sensor input processing unit 50 has an ID recognition unit 50E, and the ID recognition unit 50E performs a recognition process of a signal recorded in the RFID by using an RFID signal provided from the RFID reader unit 19. The ID recognition unit 50E recognizes the result of the processing, for example, “ball”, “vase”, and the like, and uses the recognition result as state recognition information as the emotion / instinct model unit 51 and the action determination mechanism unit 52. Notify. A configuration example of the ID recognition unit 50E will be described later with reference to FIG.
[0054]
Here, the controller 10 controls operations of the RFID reader unit 19 and the ID recognition unit 50E according to recognition results from the voice recognition unit 50A, the image recognition unit 50B, the pressure recognition unit 50C, and the like of the sensor input processing unit 50. You may do so. For example, when an image signal from the CCD camera 16 is image-recognized by the image recognition unit 50B to obtain a recognition result of a round object like a ball, the RFID reader unit 19 is operated to operate the RFID provided on the object like the ball. The tag is read, and the RFID signal obtained from the RFID reader unit 19 is sent to the ID recognizing unit 50E to perform the recognition process, thereby recognizing that it is a “ball”. In this case, as will be described later, more detailed information of the object, for example, recognition of a soccer ball can be easily realized.
[0055]
The emotion / instinct model unit 51 manages an emotion model and an instinct model expressing the emotion of the robot and the state of the instinct as shown in FIG.
[0056]
The emotion model is composed of, for example, three emotion units 60A, 60B, and 60C. These emotion units 60A to 60C indicate the emotional states (degrees) of “happy”, “sad”, and “angry”. For example, each value is represented by a value in the range of 0 to 100, and the value is changed based on state recognition information from the sensor input processing unit 50, elapsed time, or the like.
[0057]
It should be noted that the emotion model may include emotion units corresponding to "joy" in addition to "joy", "sadness", and "anger".
[0058]
The instinct model is composed of, for example, three instinct units 61A, 61B, and 61C, and these instinct units 61A to 61C are states (degrees) of instinct such as “appetite”, “sleep desire”, and “exercise desire”. Is represented by, for example, a value in a range of 0 to 100, and the value is changed based on state recognition information from the sensor input processing unit 50, elapsed time, or the like.
[0059]
The emotion / instinct model unit 51 converts the emotion state represented by the values of the emotion units 60A to 60C and the instinct state represented by the values of the instinct nits 61A to 61C, which change as described above, into the emotion / instinct state. The state information is sent to the sensor input processing unit 50, the action determination mechanism unit 52, and the speech synthesis unit 55 as state information.
[0060]
The action determining mechanism unit 52 determines the next action based on the state recognition information from the sensor input processing unit 50, the emotion / instinct state information from the emotion / instinct model unit 51, the passage of time, and the like. The content of the action is sent to the attitude transition mechanism unit 53 as action command information.
[0061]
That is, as shown in the state transition diagram of FIG. 5, the action determination mechanism unit 52 manages a finite automaton in which a possible action of the robot is associated with a state (state) as an action model that defines the action of the robot. The state in the finite state automaton as the behavior model is changed based on the state recognition information from the sensor input processing unit 50, the values of the emotion model and the instinct model in the emotion / instinct model unit 51, the passage of time, and the like. The action corresponding to the state after the transition is determined as the action to be taken next.
[0062]
Specifically, for example, in FIG. 5, state ST3 indicates an action of “standing”, state ST4 indicates an action of “sleeping”, and state ST5 indicates an action of “chase a ball”. It is assumed that Now, for example, when state recognition information indicating that "the ball has disappeared" is supplied in the state ST5 of "following the ball", the state transits from the state ST5 to ST3, and as a result, the state corresponding to the state ST3 is obtained. It is decided to take the action of "standing" next. Further, for example, in state ST4 of “sleeping”, when state recognition information of “wake up” is supplied, the state transits from state ST4 to ST3. As a result, “standing” corresponding to state ST3 also results. The next action is determined.
[0063]
Here, when detecting that there is a predetermined trigger, the action determination mechanism 52 changes the state. That is, for example, when the time during which the action corresponding to the current state is being executed reaches a predetermined time, or when specific state recognition information is received, the action determination mechanism unit 52 The value of the emotional state indicated by the supplied emotion / instinct state information (the value of the emotional units 60A to 60C) or the value of the state of the instinct (the value of the instinct units 61A to 61C) has become equal to or less than a predetermined threshold value. The state is transited at times.
[0064]
Note that, as described above, the action determination mechanism unit 52 performs the processing shown in FIG. 5 based on not only the state recognition information from the sensor input processing unit 50 but also the values of the emotion model and the instinct model in the emotion / instinct model unit 51. In the finite state automaton, the state transition destination differs depending on the value of the emotion model or the instinct model (emotion / instinct state information) even if the same state recognition information is input.
[0065]
As a result, for example, when the emotion / instinct state information indicates “not angry” and “not hungry”, the action determination mechanism unit 52 sets the state recognition information to “eye When the palm is presented before, the action command information for taking the action of "hand" is generated in response to the palm being presented in front of the eyes, It is sent to the posture transition mechanism 53.
[0066]
In addition, for example, when the emotion / instinct state information indicates “not angry” and “stomach is hungry”, the behavior recognition mechanism unit 52 determines that the state recognition information is “ When the palm is displayed, the action command information for performing an action such as "palm licking the palm" is generated in response to the palm being displayed in front of the eyes. This is sent to the posture transition mechanism 53.
[0067]
In addition, for example, when the emotion / instinct state information indicates “angry”, the action determination mechanism unit 52 determines that the state recognition information indicates that “the palm has been presented in front of the eyes”. Even if the emotion / instinct status information indicates that you are hungry, or that you are expressing that you are not hungry, it will look like “turn to the side” The action instruction information for causing the user to perform an appropriate action is generated and transmitted to the posture transition mechanism unit 53.
[0068]
Further, the action determining mechanism 52 generates action command information for causing the robot to speak, in addition to the action command information for operating the robot's head and limbs as described above. The action command information for causing the robot to speak is supplied to the voice synthesis unit 55, and the action command information supplied to the voice synthesis unit 55 corresponds to the synthesized sound generated by the voice synthesis unit 55. And the like. Then, upon receiving the action command information from the action determination section 52, the speech synthesis section 55 determines the state of the emotion and the state of the instinct managed by the emotion / instinct model section 51 based on the text included in the action command information. For example, a synthesized voice is generated by performing, for example, regular voice synthesis while adding the synthesized voice, and is supplied to the acoustic processing unit 56.
[0069]
The posture transition mechanism unit 53 generates posture transition information for transitioning the posture of the robot from the current posture to the next posture based on the behavior command information supplied from the behavior determination mechanism unit 52, and controls the posture transition information. It is sent to the mechanism 54.
[0070]
Here, the posture that can be changed next from the current posture is, for example, the physical shape of the robot such as the shape and weight of the body, hands and feet, the connection state of each part, and the direction and angle at which the joint bends. Actuator 3AA ₁ To 5A ₁ And 5A ₂ And the mechanism.
[0071]
The next posture includes a posture that can directly transition from the current posture and a posture that cannot directly transition. For example, a four-legged robot can directly transition from lying down with its limbs throwing down to lying down, but cannot directly transition to standing up. It is necessary to perform a two-stage operation of pulling down to a prone position and then standing up. There are also postures that cannot be safely executed. For example, a four-legged robot easily falls down when trying to banzai with both front legs raised from its standing posture.
[0072]
For this reason, the posture transition mechanism unit 53 pre-registers a posture to which a direct transition is possible, and when the action command information supplied from the behavior determination mechanism unit 52 indicates a posture to which a direct transition is possible, the behavior command The information is sent to the control mechanism unit 54 as the posture transition information as it is. On the other hand, when the action command information indicates a posture that cannot be directly changed, the posture transition mechanism unit 53 temporarily changes the posture to another possible posture and then changes the posture transition information to make a transition to the target posture. It is generated and sent to the control mechanism 54. As a result, it is possible to avoid a situation where the robot forcibly executes an untransitionable posture or a situation where the robot falls.
[0073]
That is, for example, as shown in FIG. 6, the posture transition mechanism unit 53 expresses the postures that the robot can take as nodes NODE1 to NODE5, and directs between the nodes corresponding to the two postures that can be transitioned. The digraphs connected by the arcs ARC1 to ARC10 are stored, and the posture transition information as described above is generated based on the digraphs.
[0074]
Specifically, when the behavior command information is supplied from the behavior determination mechanism unit 52, the posture transition mechanism unit 53 corresponds to the node NODE corresponding to the current posture and the posture to be taken next indicated by the behavior command information. Search for a path from the current node NODE to the next node NODE while following the direction of the directed arc ARC so as to connect to the node NODE, and take the posture corresponding to the node NODE on the searched path in order. Is generated.
[0075]
As a result, for example, when the current posture is in the node NODE2 indicating the posture of “turn off” and the action command information of “close” is supplied, the posture transition mechanism unit 53 displays “turn off” in the directed graph. Since it is possible to make a direct transition from the node NODE2 indicating the posture of “sit” to the node NODE5 indicating the posture of “sits”, the posture transition information corresponding to “sits” is generated and provided to the control mechanism unit 54.
[0076]
Also, when the current posture is in the node NODE2 indicating the posture of “turn off”, and the action command information of “walk” is supplied, the posture transition mechanism unit 53 determines from the node NODE2 of “turn off” in the directed graph. , Is searched for a route to the node NODE4 of "Aruku". In this case, the path of the node NODE2 corresponding to "Fusage", the path of NODE3 corresponding to "Tatsu", and the path of NODE4 corresponding to "Araku" are obtained. Is generated and sent to the control mechanism unit 54.
[0077]
The control mechanism unit 54 controls the actuator 3AA in accordance with the posture transition information from the posture transition mechanism unit 53. ₁ To 5A ₁ And 5A ₂ And generates a control signal for driving the actuator 3AA. ₁ To 5A ₁ And 5A ₂ To send to. Thereby, the actuator 3AA ₁ To 5A ₁ And 5A ₂ Is driven according to a control signal, and the robot autonomously acts.
[0078]
On the other hand, the sound processing unit 56 receives the state recognition information output from the environment recognition unit 50D constituting the sensor input processing unit 50, and outputs the synthesized sound supplied from the voice synthesis unit 55 based on the state recognition information. Control. That is, the sound processing unit 56 can clearly hear the synthesized sound output from the speaker 18 with respect to the noise in the environment where the robot is used, the distance from the robot to the user, and the like as the state recognition information. Thus, the size (power), height (frequency), and the like are adjusted so as not to cause harshness, and the adjusted power is supplied to the speaker 18. As a result, the speaker 18 outputs a synthesized sound having an appropriate size and height.
[0079]
Next, FIG. 7 illustrates a configuration example of the ID recognition unit 50E of FIG. The ID collation unit 41 is supplied with an RFID signal output from the RFID reader unit 19. The ID table storage unit 42 stores an ID number of an RFID tag (wireless tag) registered in advance and a table of target related information corresponding to the ID number (hereinafter, referred to as an ID table). FIG. 8 shows an example of the ID table. In the example of FIG. 8, as the target related information, the target related information A of a relatively large category such as “desk”, “ball”, “vase”, etc., and the ball “foot” and “for soccer” of the desk , And more detailed target-related information B such as a vase for “flower arrangement”.
[0080]
7 determines whether or not the RFID signal output from the RFID reader unit 19 belongs to information recorded in the ID table of the ID table storage unit 42. Then, when it is determined that the RFID signal output from the RFID reader unit 19 is recorded in the ID pattern storage unit 42, the RFID signal corresponding to the ID number of the RFID signal is obtained from the ID table recorded in the ID pattern storage unit 42. The target related information is read out, and the state recognition information corresponding to the target related information is notified to the emotion / instinct model unit 51 and the action determination mechanism unit 52. Therefore, the behavior of the robot device is controlled according to the state recognition information based on the target related information. Note that the object recognition information may be used as it is as the state recognition information. Further, a plurality of target related information corresponding to the ID number may exist.
[0081]
As a format of the RFID signal, for example, a format having a header portion, an identifier portion, and a data portion and having a total of 128 bits can be used. In addition, various formats can be used. Generally, an RFID tag has a larger amount of information than a barcode, has a high ability to identify an object, and can include detailed data of the object. In addition, since the RFID system is capable of non-contact information communication, it has excellent durability, is not affected by dirt or dust, can be read while moving, and has optical detection means such as a camera. However, there is an advantage that object recognition can be performed even in darkness.
[0082]
In addition, since the RFID tag has a larger amount of information than a barcode or the like, data that already has its own meaning, such as ASCII code, sampling data of voice or image, or compression encoded data, is used for the RFID tag. May be stored in the memory. In this case, part or all of the information of the ID table as described above can be omitted, and further, the ID table itself can be omitted, and the target-related information or the like can be directly read from the RFID signal. is there.
[0083]
According to the above-described embodiment of the present invention, by providing the RFID reader unit 19 in the robot apparatus, it is possible to confirm information of an object and identify an object which is difficult to be detected by a microphone, a camera, and various sensors. It is possible to perform object recognition effectively and reliably even when the external environment is dark. Then, according to the recognized result, it is possible to cause the user to take a unique action.
[0084]
By using the robot apparatus having such an RFID reader unit 19, it is possible to apply to a game (sports), a restriction on an action range, a relation building with surroundings, an automatic mounting, and the like.
[0085]
For example, as an example of application to a game (sports), in the case of a ball game such as a soccer game, a tag is attached to a robot device, a ball, a ground (ground), etc., which are members (players), so that an opponent can play a ball and a court. It is possible to easily recognize the position or the like while moving, and to smoothly perform a ball game. In the case of an obstacle race, a tag is attached to the ground (ground) and the obstacle so that the current position and the obstacle can be recognized while moving, so that the game can proceed smoothly. In addition, it is possible to tag the skateboard (skateboard), recognize the position of the skateboard, and run on the skateboard.
[0086]
In addition, as a constraint on the action range, by attaching a tag to a wall or a stepped portion and making it recognized, it is possible to realize a constraint on the action range that prevents a collision with a wall or a fall from a stepped portion.
[0087]
Also, as an example of automatic mounting, you can attach a tag to the charger and charge it by yourself, or attach a tag to the robot's component parts (parts), let the robot body recognize the parts, and attach and detach the parts by yourself. It is also possible to tag a vehicle such as a skateboard or the like and ride it on its own.
[0088]
In addition, tags are attached to the skateboard and the ground to recognize location information, carry objects, and tag small objects such as cat strollers and pillows to make them recognized and comfortable / unpleasant according to the recognized small items. Various applications are possible, such as giving emotional expressions such as danger / safety.
[0089]
Further, when the robot device recognizes the information of the RFID tag, the robot device may act as a fatigue, heat or body temperature, pain, appetite or hunger, dryness, affection. Behavior based on instinct factors such as (affection), curiosity, elimination or sexuality, happiness, sadness, anger, surprise, disgust (Disgust), fear, frustration, boredom, sleep (somnolence), sociability (gregariousness), patience, tension, relaxed, alertness, Actions based on emotional factors, such as guilt, spite, loyalty, submission, or jealousy, may appear.
[0090]
Here, as a specific example, an example will be described in which a tag is attached to the wall, the step portion, or the like so that the wall, the step portion, or the like is prevented from hitting the wall or dropping from the step portion.
[0091]
FIG. 9 shows an example of an ID table indicating a relationship between an ID number for identifying a wall, a step portion, and the like in this case and the target related information. In the example of FIG. 9, for the ID number of the RFID tag, target related information C for identifying a wall, a step, a slope, and the like, and specific actions such as stop, backward, right turn, left turn, etc. Target related information D for identification is set. This ID table is stored in, for example, the ID table storage unit 42 described with reference to FIG. 7, and the ID collation unit 41 stores the ID number of the RFID signal transmitted from the RFID reader unit 19 in the ID table storage unit 42. It is determined whether the information belongs to the information stored in the ID table of FIG. 9 described above, and when it is determined that the information belongs, the target related information C and D corresponding to the ID number of the RFID signal are read from the ID table, and The above-mentioned state recognition information corresponding to the target related information (or the target related information as it is as state recognition information) is notified to the emotion / instinct model unit 51 and the action determination mechanism unit 52 as shown in FIG. Of course, the ID number and the target related information are not limited to the specific example of FIG.
[0092]
FIGS. 10 to 12 show an example of the operation when the robot apparatus 1 as described above approaches a place having a step. As the robot device 1, for example, a robot device of the type described with reference to FIGS. 1 to 7 can be used. In this case, the ID table shown in FIG. 9 is recorded in the ID table storage unit of the robot device 1, and the head unit 4 of the robot device 1 includes the RFID reader unit 19 for reading the information of the RFID tag. , Are arranged at predetermined positions.
[0093]
The RFID tags 100 to 112 are fixed at an interval of a predetermined distance d (for example, about 10 cm) inside the tape 118, for example. In the RFID tags 100 to 112, for example, 12000001 is recorded as an ID number. The tape 118 is fixed on the floor 114 along the side surfaces (side walls) 113 and 115 of the step. Specifically, the RFID tag can be easily manufactured by attaching an adhesive tape with a tag in which the RFID tag is provided in advance at a predetermined distance d inside the tape base to a desired position such as near a step. Can be installed in
[0094]
FIG. 10 shows how the robot apparatus 1 walks on the floor 114 and approaches the RFID 107 near the step (side wall 113). FIG. 11 shows a state in which the robot apparatus 1 has transitioned from the state of FIG. 10 and has reached a distance at which the RFID reader unit 19 can read the information recorded on the RFID tag 107. In FIG. 11, the RFID reader 19 reads information 117 (ID number 12000001) recorded on the RFID tag 107 by the radio wave 116. The RFID reader unit 19 outputs the read information 117 (ID number 12000001) to the ID collation unit 41 of the robot device 1. The ID collation unit 41 determines whether the information 117 (ID number 12000001) output from the RFID reader unit 19 belongs to the information of the ID table of FIG. 9 stored in the ID table storage unit 42. Since the ID number 12000001 is determined to belong to the information recorded in the ID table storage unit 42, the target related information C (step) and the target related information D corresponding to the ID number 12000001 of the RFID signal are determined based on the ID table. (Rearward) is notified to the emotion / instinct model unit 51 and the action determination mechanism unit 52. The action determination mechanism unit 52 performs state recognition information according to the target related information C (step) and the target related information D (backward movement), the emotion / instinct state information from the emotion / instinct model unit 51, the time lapse, and the like. The next action is determined to be “backward”, and the content of the determined action is sent to the attitude transition mechanism unit 53 as action command information. The posture transition mechanism unit 53 generates posture transition information for transitioning the posture of the robot from the current posture to the next backward posture based on the action command information of "backward movement" supplied from the behavior determination mechanism unit 52. It is generated and sent to the control mechanism 54. The control mechanism unit 54 controls the actuator 3AA in accordance with the posture transition information from the posture transition mechanism unit 53. ₁ To 5A ₁ And 5A ₂ And generates a control signal for driving the actuator 3AA. ₁ To 5A ₁ And 5A ₂ To send to. Thereby, the actuator 3AA ₁ To 5A ₁ And 5A ₂ Is driven in accordance with the control signal, and the robot apparatus 1 performs an action of “backward”. FIG. 12 shows a state where the vehicle is moved backward from the state shown in FIG.
[0095]
13 to 15 show an example of the operation when the robot device 1 approaches a place with a wall. The robot device 1 is a robot device of the type described with reference to FIGS. 1 to 7, and the information in the ID table is as shown in FIG. In the head unit 4 of the robot device 1, the RFID reader 19 for reading information of the RFID tag is provided at a predetermined position.
[0096]
In the example shown in FIGS. 13 to 15, similarly to the examples shown in FIGS. 10 to 12, the RFID tags 120 to 122 are provided inside the tape 118 at predetermined intervals d (for example, about 10 cm). The RFID tags 120 to 122 record 11000001 as an ID number. The tape 118 is fixed (attached) to the surface of the wall 124.
[0097]
FIG. 13 shows how the robot apparatus 1 walks on the floor 123 and approaches the RFID tag 121. FIG. 14 shows a state in which the robot apparatus 1 has transitioned from the state shown in FIG. 13 and has reached a distance at which the RFID reader unit 19 can read information recorded on the RFID tag 121. FIG. 14 shows a state in which the RFID reader unit 19 is reading information 119 (ID number 11000001) recorded on the RFID tag 121 by the radio wave 116. The RFID reader section 19 outputs the read information 119 (ID number 11000001) to the ID collation section 41 of the robot device 1. The ID collation unit 41 determines whether the information 119 (ID number 11000001) output from the RFID reader unit 19 belongs to the information recorded in the ID table (FIG. 9) of the ID table storage unit 42. Since it is determined that the ID number 11000001 is recorded in the ID table storage unit 42, the target related information C (wall) and the target related information D (backward) corresponding to the ID number 11000001 of the RFID signal from the ID table are obtained. And notifies the emotion / instinct model unit 51 and the action determination mechanism unit 52 of the state recognition information corresponding to the target related information. The action determination mechanism unit 52 performs state recognition information according to the target related information C (step) and the target related information D (backward movement), the emotion / instinct state information from the emotion / instinct model unit 51, the time lapse, and the like. The next action is determined to be “backward”, and the content of the determined action is sent to the attitude transition mechanism unit 53 as action command information. The posture transition mechanism unit 53 generates posture transition information for transitioning the posture of the robot from the current posture to the next backward posture based on the action command information of "backward movement" supplied from the behavior determination mechanism unit 52. It is generated and sent to the control mechanism 54. The control mechanism unit 54 controls the actuator 3AA in accordance with the posture transition information from the posture transition mechanism unit 53. ₁ To 5A ₁ And 5A ₂ And generates a control signal for driving the actuator 3AA. ₁ To 5A ₁ And 5A ₂ To send to. Thereby, the actuator 3AA ₁ To 5A ₁ And 5A ₂ Is driven in accordance with the control signal, and the robot performs a “backward” action. FIG. 15 shows a state in which the state is backward from the state of FIG.
[0098]
The behavior of the robot apparatus 1 described with reference to FIGS. 10 to 12 and FIGS. 13 to 15 is “backward”, but according to the environment, stops, retreats, moves forward, turns right, turns left, backwards, jumps, skips, Various simple actions such as prone, squatting, erect, handstand, supine, inversion, rotation, change of facial expression, change of tail, change of limbs, as well as fatigue (fatigue), heat or body temperature (temperature), pain ( happiness, behavior based on instinct factors such as pain, appetite or hunger, thirst, affection, affection, curiosity, elimination or sexuality. Sadness, anger, surprise, disgust, fear, fear, frustration, boredom, sleep (somnolence), sociality (gregariousness), patience , Tension, lira Generate actions based on emotional factors such as relaxed, alertness, guilt, spite, spontaneity, loyalty, submission, or jealousy Is also good.
[0099]
The target related information associated with the information recorded on the RFID tags in FIGS. 10 to 12 and FIGS. 13 to 15 is “wall” or “step”. Various information may be used according to the environment such as a corner, an entrance, a living room, a dining room, a Japanese-style room, a Western-style room, a bathroom, a window, a passage, and a living room.
[0100]
Although the RFID tags shown in FIGS. 10 to 12 and FIGS. 13 to 15 are fixed inside the tape 118, sheets such as paper and vinyl, tapes, stickers, strings, cables, cards, pens, Fixed to the surface or inside of members such as curtains, carpets, cloths, stuffed toys, stairs, floors, holes, pillars, corners, entrances, living rooms, dining rooms, Japanese-style rooms, Western-style rooms, bathrooms, windows, passages, living rooms It may be fixed to the surface or inside of the constituent member.
[0101]
Next, a system for establishing a relationship between the robot device having the RFID reader unit 19 as described above and objects including humans and animals around the robot device will be described.
[0102]
This means that in the case of pets such as animal dogs and cats, it is possible to distinguish between their owner and other humans, and their parents, children, siblings, etc. It is possible to act according to advanced relationships such as master-slave relationships and family relationships.However, in the conventional pet robot device, when there are multiple persons similar to the owner or when there are multiple similar pet robot devices In consideration of difficulties in discriminating between the owner and other humans and between the family and others, the robot apparatus must establish the advanced relationship described above with surrounding creatures ( It can be constructed between humans and animals) and objects (other robots and the like).
[0103]
Here, FIG. 16 is an ID number for identifying advanced relations (family relations, blood relations, master-slave relations, etc.) between surrounding organisms (humans, animals, etc.) and objects (other robots, etc.). 4 shows an example of an ID table indicating a relationship between the information and the target related information. In the example of FIG. 16, for the ID number of the RFID tag, target related information E indicating a relationship between the owner and the like, target related information F indicating a birthday, and target related information G indicating a gender are set. ing. This ID table is stored in, for example, the ID table storage unit 42 described with reference to FIG. 7, and the ID collation unit 41 stores the ID number of the RFID signal transmitted from the RFID reader unit 19 in the ID table storage unit 42. It is determined whether the information belongs to the information stored in the ID table of FIG. 16 described above, and when it is determined that the information belongs, the target related information E, F, G corresponding to the ID number of the RFID signal is read from the ID table. Then, it notifies the emotion / instinct model unit 51 and the action determination mechanism unit 52 as shown in FIG. Of course, the ID number and the target related information are not limited to the specific example of FIG.
[0104]
17 to 20 show an example of the operation when the robot device 1 as described above approaches a person having an RFID tag. As the robot device 1, for example, a robot device of the type described with reference to FIGS. 1 to 7 can be used. In this case, an ID table shown in FIG. 16 is recorded in the ID table storage unit of the robot device 1, and the head unit 4 of the robot device 1 includes an RFID reader unit 19 for reading information of an RFID tag. It is assumed that it is arranged at a predetermined position.
[0105]
Here, the human 130 shown in FIGS. 17 to 19 is an owner, for example, wearing a ring 141, and the ring 141 is provided with an RFID tag 142 as shown in FIG. In this RFID tag 142, an ID number 21000000 indicating the owner of the ID table in FIG. 16 is recorded.
[0106]
FIG. 17 shows a state in which the robot 1 apparatus has acquired image data 131 of the human 130 by the CCD camera 16 and is approaching the human 130 based on the image recognition result. FIG. 18 shows a state in which the robot apparatus 1 has transitioned from the state shown in FIG. 17 and has reached a distance at which the RFID reader unit 19 can read the information recorded on the RFID tag 142 of the ring 141. FIG. 18 shows a state in which the RFID reader unit 19 is reading information 146 recorded on the RFID tag 142 of the ring 141 by the radio wave 145. The RFID reader section 19 outputs the read information 146 to the ID collation section 41 of the robot device 1. The ID collation unit 41 determines whether the information 146 (ID number 21000000) output from the RFID reader unit 19 belongs to the information recorded in the ID table of the ID table storage unit 42. Since the ID number of the information 146 is 21000000 and it is determined that the ID number is recorded in the ID pattern storage unit 42, the target related information E corresponding to the ID number 21000000 of the RFID signal is determined based on the ID table of FIG. The “owner”, the target related information F “12/12/1948”, and the target related information G “man” are read out, and the state recognition information corresponding to the target related information is read into the emotion / instinct model unit 51 and the action determination. Notify the mechanism unit 52. The action determination mechanism unit 52 includes a ring with a built-in RFID tab 142 based on state recognition information corresponding to the target related information E, F, and G, the emotion / instinct state information from the emotion / instinct model unit 51, and the passage of time. It recognizes the human 130 wearing the 141 as the owner and decides to act in the future so as to establish a master-slave relationship with the human 130. In order to express the master-slave relationship with the owner, for example, “stand” is determined as the next action, and the content “stand” of the determined action is sent to the posture transition mechanism unit 53 as action command information. The posture transition mechanism unit 53 is configured to change the posture of the robot apparatus 1 from the current posture to the next standing posture based on the action command information of “standing” supplied from the behavior determining mechanism unit 52. It generates transition information and sends it to the control mechanism 54. The control mechanism unit 54 controls the actuator 3AA in accordance with the posture transition information from the posture transition mechanism unit 53. ₁ To 5A ₁ And 5A ₂ And generates a control signal for driving the actuator 3AA. ₁ To 5A ₁ And 5A ₂ To send to. Thereby, the actuator 3AA ₁ To 5A ₁ And 5A ₂ Is driven in accordance with the control signal, and the robot apparatus 1 performs the action of “standing”. FIG. 19 shows a state of the robot apparatus 1 standing from the state of FIG.
[0107]
Next, an example in which 22000003 is recorded as the ID number instead of 21000000 in the RFID tag will be described below.
[0108]
It is assumed that the person 133 shown in FIG. 20 is wearing a ring 143 provided with an RFID tag in which 22000003 is recorded as an ID number. At this time, the robot apparatus 1 performs state recognition information corresponding to the target related information E “other”, the target related information F “1950/9/1”, and the target related information G “man” corresponding to the RFID signal ID number 22000003. To the emotion / instinct model unit 51 and the action determination mechanism unit 52. The action determination mechanism unit 52 is an RFID tag in which 22000003 is recorded based on state recognition information corresponding to the target related information E, F, and G, the emotion / instinct state information from the emotion / instinct model unit 51, and the passage of time. The person 133 wearing the ring 143 provided with is recognized as a red person, and it is determined that the person 133 will behave in the future so as to be unrelated to the person 133. In order to express that the action is unrelated to the human 133, “retreat” is determined as the next action, and the content “retreat” of the determined action is sent to the attitude transition mechanism unit 53 as action command information. The posture transition mechanism unit 53 is configured to change the posture of the robot 1 from the current posture to the next posture for retreating based on the action command information of “retreat” supplied from the behavior determination mechanism unit 52. It generates transition information and sends it to the control mechanism 54. The control mechanism unit 54 controls the actuator 3AA in accordance with the posture transition information from the posture transition mechanism unit 53. ₁ To 5A ₁ And 5A ₂ And generates a control signal for driving the actuator 3AA. ₁ To 5A ₁ And 5A ₂ To send to. Thereby, the actuator 3AA ₁ To 5A ₁ And 5A ₂ Is driven in accordance with the control signal, and the robot apparatus 1 performs an action of “retreat”. FIG. 20 shows a state of the robot apparatus 1 which has retreated.
[0109]
Next, FIG. 22 to FIG. 24 show an example of the operation when the robot device 151 approaches the robot device 152. As these robot devices 151 and 152, for example, the robot devices of the type described with reference to FIGS. 1 to 7 can be used. In this case, an ID table as shown in FIG. 16 is recorded in the ID table storage unit of each of the robot devices 151 and 152, and the head unit 4 of each of the robot devices 151 and 152 stores the above-mentioned RFID for reading the information of the RFID tag. It is assumed that the reader unit 19 is provided at a predetermined position. An RFID tag 153 is attached to a predetermined position of the robot device 151, for example, a surface of the nose, and an RFID tag 154 is attached to a predetermined position of the robot device 152, for example, the surface of the nose. Further, the RFID tag 153 records 21000005 as an ID number, and the RFID tag 154 records 21000004 as an ID number.
[0110]
FIG. 22 shows a state in which the robot device 151 has obtained image data 155 of the robot device 152 by the CCD camera 16 and is approaching the robot device 152 based on the image recognition result. FIG. 23 illustrates a state in which the robot device 151 has transitioned from the state illustrated in FIG. 22 and has reached a distance at which the RFID reader 19 can read the information 156 recorded on the RFID tag 154. FIG. 23 shows a state in which the RFID reader unit 19 is reading information 156 recorded on the RFID tag 154 by the radio wave 157. The RFID reader section 19 outputs the read information 156 to the ID collation section 41 of the robot device 151. The ID collation unit 41 determines whether the information 156 (ID number 21000004) output from the RFID reader unit 19 belongs to the information recorded in the ID table (FIG. 16) of the ID table storage unit 42. Since the ID number of the information 156 is 21000004 and it is determined that the ID number is recorded in the ID pattern storage unit 42, the target related information E “mother” corresponding to the ID number 21000004 of the RFID signal is determined based on the ID table. , The subject-related information F “September 1, 1993” and the subject-related information G “woman” are read out, and state recognition information corresponding to these subject-related information is sent to the emotion / instinct model unit 51 and the action determination mechanism unit 52. Notice. The action determination mechanism 52 includes state recognition information corresponding to the target related information E “mother” / F “1993/9/1” / G “woman”, emotion / instinctive state information from the emotion / instinct model unit 51, and time. Based on the progress and the like, the robot device 152 is recognized as the mother, and it is determined that the robot device 152 will behave in the future so as to establish a family relationship with the robot device 152. In order to express the family relationship with the robot device 152, “follow the behavior of the robot device 152” is determined as the next behavior, and the content of the determined behavior “follow the behavior of the robot device 152” is specified by an action command. The information is sent to the posture transition mechanism 53 as information. The posture transition mechanism unit 53 changes the posture of the robot device 151 from the current posture to the next robot device 151 based on the action command information of “follow the action of the robot device 152” supplied from the action determination mechanism unit 52. Posture transition information for transitioning to the posture for following the action is generated and transmitted to the control mechanism unit 54. The control mechanism unit 54 controls the actuator 3AA in accordance with the posture transition information from the posture transition mechanism unit 53. ₁ To 5A ₁ And 5A ₂ And generates a control signal for driving the actuator 3AA. ₁ To 5A ₁ And 5A ₂ To send to. Thereby, the actuator 3AA ₁ To 5A ₁ And 5A ₂ Is driven in accordance with the control signal, and the robot device 151 causes an action of “follow the action of the robot device 152”. FIG. 24 shows a state in which the robot device 151 is following the action of the robot device 152 from the state of FIG.
[0111]
In FIG. 19, the robot apparatus 1 has acted to establish a "master-slave relationship", and in FIG. 24, the robot apparatus 151 has acted to establish a "family relationship". The relationship may be various relationships such as a family relationship, a blood relationship, a friend relationship, a master-slave relationship, a local relationship, a sports member, a capitalist / worker relationship, a buying and selling relationship, a love relationship, a customer relationship, and the like. Also, based on such a relationship, the robotic device can be used by a grandfather, grandmother, father, mother, brother, sister, brother, sister, friend, neighbor, cousin, uncle, grandmother, alumni, teacher, student, teammate, rival, Enemies, relatives, others, acquaintances, masters, servants, servants, pets, guide dogs, women, men, lovers, boys, girls, adults, children, babies, the elderly, adolescents, married, unmarried, widowed, volunteer, nursing Woman, nurse, doctor, guide, waitress, waiter, stewardess, attendant, station worker, traffic officer, explainer, customer, seller, security guard, police, patrol, firefighter, guardman, salesman, cleaner, entertainer Is controlled to play at least one of the following.
[0112]
The action of the robot apparatus 1 in FIG. 19 is “stand” and the action of the robot apparatus 151 in FIG. 24 is “follow the action of the robot apparatus 152”. Stop, retreat, move forward, turn right, turn left, move backward, jump, skip, lie down, squat, erect, handstand, supine, flip, rotate, change facial expression, change tail, depending on the relationship established with the object Various simple actions, such as changes in limbs, as well as fatigue, heat or temperature, pain, appetite or hunger, thirst, affection, curiosity Behavior based on instinct factors, such as curiosity, elimination or sexuality, happiness, sadness, anger, surprise, disgust, fear (Fear), frustration ( frustration, boredom, sleep (somnolence), sociability (gregariousness), patience, tension (tense), relaxed (relaxed), alertness, guilt, spite, honesty The behavior may be based on emotional factors such as loyalty, submission, or jealousy.
[0113]
Further, in the above-described embodiment, an ID number is written in the RFID tag, an ID table is provided inside the robot device, and the corresponding target related information is referred to from the ID number stored in the RFID tag. However, the RFID tag itself may store data having meaning, such as target-related information. In this case, it is not necessary to store the ID table in the robot device, and the target-related information and the like can be obtained directly by reading the RFID signal.
[0114]
In the above-described embodiment of the present invention, the above-described series of processes is performed by causing the CPU 10A to execute a program. However, the series of processes may be performed by dedicated hardware.
[0115]
The program is stored in the memory 10B (FIG. 2) in advance, and is stored in a flexible disk, a compact disk read only memory (CD-ROM), a magnetic disk (MO), a digital versatile disk (DVD), a magnetic disk, It can be temporarily or permanently stored (recorded) in a removable recording medium such as a semiconductor memory. Then, such a removable recording medium can be provided as so-called package software, and can be installed in the robot (memory 10B).
[0116]
In addition to installing the program from a removable recording medium, the program can be wirelessly transferred from a download site via an artificial satellite for digital satellite broadcasting, or wired via a network such as a LAN (Local Area Network) or the Internet. It can be transferred and installed in the memory 10B.
[0117]
In this case, when the program is upgraded, the upgraded program can be easily installed in the memory 10B.
[0118]
Here, in the present specification, processing steps for describing a program for causing the CPU 10A to perform various types of processing do not necessarily have to be processed in chronological order in the order described in the flowchart, and may be performed in parallel or individually. The processing to be executed (for example, parallel processing or processing by an object) is also included.
[0119]
Further, the program may be processed by one CPU or may be processed in a distributed manner by a plurality of CPUs.
[0120]
As described above, the case where the present invention is applied to an entertainment robot (robot as a pseudo pet) has been described. However, the present invention is not limited to this. For example, an industrial robot or a humanoid robot Can be widely applied to various types of robots.
[0121]
Here, a humanoid robot device to which the present invention can be applied will be described with reference to the drawings.
[0122]
FIGS. 25 and 26 show the humanoid robot device 200 viewed from the front and the rear, respectively. Further, FIG. 27 schematically shows the configuration of the degrees of freedom of the joints included in the humanoid robot device 200.
[0123]
As shown in FIGS. 25 and 26, the humanoid robot device 200 includes two lower legs 201R and 201L that perform legged movement, a trunk 202, upper and lower legs 203R and 203L, and a head 204. Be composed.
[0124]
Each of the left and right lower limbs 201R, 201L includes a thigh 205R, 205L, a knee joint 206R, 206L, a shin 207R, 207L, an ankle 208R, 208L, and a foot 209R, 209L. The lower part of the trunk 202 is connected to the lowermost part of the trunk 202 by 210L. Each of the left and right upper limbs 203R and 203L includes an upper arm 211R and 211L, an elbow joint 212R and 212L, and a forearm 213R and 213L. Each of the left and right side edges above the trunk 202 by the shoulder joints 214R and 214L. Are linked. Further, the head 204 is connected to the center of the uppermost end of the trunk 202 by a neck joint 255.
[0125]
As shown in FIG. 27, there are three degrees of freedom of a neck joint yaw axis 302 supporting the head 204, a neck joint pitch axis 303, and a neck joint roll axis 304.
[0126]
The arm joints include a shoulder joint pitch axis 308, a shoulder joint roll axis 309, an upper arm yaw axis 310, an elbow joint pitch axis 311, a forearm yaw axis 312, a wrist joint pitch axis 313, and a wrist joint roll. It is composed of a shaft 314 and a hand 315. The hand part 315 is actually a multi-joint and multi-degree-of-freedom structure including a plurality of fingers. However, since the movement of the hand 315 has little contribution or influence on the posture control and walking control of the humanoid robot device 200, it is assumed that the degree of freedom is zero in this specification. Therefore, each arm has seven degrees of freedom.
[0127]
The trunk has three degrees of freedom: a trunk pitch axis 305, a trunk roll axis 306, and a trunk yaw axis 307.
[0128]
Each leg constituting the lower limb includes a hip joint yaw axis 316, a hip joint pitch axis 317, a hip joint roll axis 318, a knee joint pitch axis 319, an ankle joint pitch axis 320, and an ankle joint roll axis 321. , And a foot 322. In this specification, the intersection of the hip joint pitch axis 317 and the hip joint roll axis 318 defines the hip joint position of the humanoid robot device 200. The foot 322 of the human body is actually a structure including a sole with multiple joints and multiple degrees of freedom, but the sole of the humanoid robot device 200 has zero degrees of freedom. Therefore, each leg has six degrees of freedom.
[0129]
Summarizing the above, the entire humanoid robot device 200 has a total of 3 + 7 × 2 + 3 + 6 × 2 = 32 degrees of freedom. However, the humanoid robot device 200 for entertainment is not necessarily limited to 32 degrees of freedom. Needless to say, the degree of freedom, that is, the number of joints, can be appropriately increased or decreased according to design / production constraints and required specifications.
[0130]
Each degree of freedom of the humanoid robot device 200 as described above is actually implemented using an actuator. Actuators are required to be small and lightweight due to demands such as eliminating extra bulges in appearance and approximating the human body shape, and controlling the posture of unstable structures such as bipedal walking. preferable.
[0131]
FIG. 28 schematically shows a control system configuration of the humanoid robot device 200. As shown in the figure, the humanoid robot device 200 has each of the mechanism units 330, 340, 350R / L, and 360R / L representing human limbs, and adaptive control for realizing a cooperative operation between the mechanism units. (However, each of R and L is a suffix indicating each of right and left. The same applies hereinafter).
[0132]
The operation of the entire humanoid robot device 200 is totally controlled by the control unit 380. The control unit 380 exchanges data and commands between a main control unit 381 composed of main circuit components (not shown) such as a CPU (Central Processing Unit) and a memory, and a power supply circuit and each component of the humanoid robot device 200. It includes a peripheral circuit 382 including an interface (not shown) for transmitting and receiving. The installation place of the control unit 380 is not particularly limited. In FIG. 28, it is mounted on the trunk unit 340, but may be mounted on the head unit 330. Alternatively, the control unit 380 may be provided outside the humanoid robot device 200 to communicate with the body of the humanoid robot device 200 by wire or wirelessly.
[0133]
Each joint degree of freedom in the humanoid robot device 200 shown in FIG. 28 is realized by the corresponding actuator. That is, the head unit 330 includes a neck joint yaw axis actuator A2, a neck joint pitch axis actuator A3, and a neck joint roll axis actuator A4 representing the neck joint yaw axis 302, the neck joint pitch 303, and the neck joint roll axis 304, respectively. Are arranged.
[0134]
In addition, the head unit 330 is provided with a charge coupled device (CCD) camera for capturing an external situation, a distance sensor for measuring a distance to an object located in front of the head unit 330, and collecting external sounds. A microphone for sounding, a speaker for outputting sound, a touch sensor for detecting pressure received by a physical action such as “stroke” and “hit” from the user, and the like are provided. Further, an RFID reader (not shown) for reading information from the RFID tag (wireless tag) as described above is provided in the head unit 330. The RFID reader unit may be provided in a part other than the head unit 330.
[0135]
Also, the trunk unit 340 includes a trunk pitch axis actuator A5, a trunk roll axis actuator A6, and a trunk yaw axis actuator that represent each of the trunk pitch axis 305, the trunk roll axis 306, and the trunk yaw axis 307. A7 is provided. The torso unit 340 includes a battery serving as a power source for starting the humanoid robot device 200. This battery is constituted by a chargeable / dischargeable battery.
[0136]
The arm unit 350R / L is subdivided into an upper arm unit 351R / L, an elbow joint unit 352R / L, and a forearm unit 353R / L. The shoulder joint pitch axis 308, the shoulder roll axis 309, and the upper arm A shoulder joint pitch axis actuator A8, a shoulder joint roll axis actuator A9, an upper arm yaw axis actuator A10 expressing each of a yaw axis 310, an elbow joint pitch axis 311, a forearm yaw axis 312, a wrist joint pitch axis 313, and a wrist joint roll axis 314, An elbow joint pitch axis actuator A11, an elbow joint roll axis actuator A12, a wrist joint pitch axis actuator A13, and a wrist joint roll axis actuator A14 are provided.
[0137]
The leg unit 360R / L is subdivided into a thigh unit 361R / L, a knee unit 362R / L, and a shin unit 363R / L, and the hip joint yaw axis 316, the hip joint pitch axis 317, and the hip joint The hip joint yaw axis actuator A16, the hip joint pitch axis actuator A17, the hip joint roll axis actuator A18, and the knee joint pitch axis actuator A19 representing each of the roll axis 318, the knee pitch axis 319, the ankle pitch axis 320, and the ankle roll axis 321. , An ankle joint pitch axis actuator A20 and an ankle joint roll axis actuator A21. The actuators A2, A3,... Used for each joint are more preferably constituted by small AC servo actuators of the type directly connected to a gear and having a single-chip servo control system mounted in a motor unit. Can be.
[0138]
The sub-control units 335, 345, 355R / L, 365R / L of the actuator drive control unit are provided for each mechanism unit such as the head unit 330, the trunk unit 340, the arm unit 350, and each leg unit 360. ing. Further, grounding confirmation sensors 391 and 392 for detecting whether the soles of the legs 360R and L have landed are mounted, and a posture sensor 393 for measuring the posture is provided in the trunk unit 340. ing.
[0139]
Each of the ground contact confirmation sensors 391 and 392 includes, for example, a proximity sensor or a micro switch installed on a sole. The posture sensor 393 is configured by, for example, a combination of an acceleration sensor and a gyro sensor.
[0140]
Based on the outputs of the ground contact confirmation sensors 391 and 392, it is possible to determine whether each of the left and right legs is currently in a standing or idle state during an operation such as walking or running. Further, the inclination and posture of the trunk can be detected from the output of the posture sensor 393.
[0141]
The main control unit 381 can dynamically correct the control target in response to the output of each of the sensors 391 to 393. More specifically, adaptive control is performed for each of the sub-control units 335, 345, 355R / L, and 365R / L, and the upper limb, the trunk, and the lower limb of the humanoid robot device 200 are driven in a coordinated manner. To achieve a whole-body exercise pattern.
[0142]
As described above, in the humanoid robot device 200, each of the sub-control units 335, 345, and so on interprets the command received from the main control unit 381 and sends a command to each of the actuators A2, A3. And outputs a drive control signal to control the drive of each unit. Accordingly, the humanoid robot device 200 stably transitions to the target posture and can walk in a stable posture.
[0143]
In the control unit 380 of the humanoid robot device 200, in addition to the posture control described above, various sensors such as an acceleration sensor, a touch sensor, and a ground check sensor, image information from a CCD camera, and audio information from a microphone Etc. are managed. In the control unit 380, although not shown, various sensors such as an acceleration sensor, a gyro sensor, a touch sensor, a distance sensor, a microphone, and a speaker, each actuator, a CCD camera, and a battery are connected to the main control unit 381 via corresponding hubs. Have been. Although not shown, the RFID reader unit is also connected to the main control unit 381.
[0144]
The main control unit 381 sequentially fetches sensor data, image data, and audio data supplied from each of the above-described sensors, or RFID information from the RFID reader unit, and stores these in predetermined positions in the DRAM via the respective internal interfaces. Store sequentially. Further, the main control unit 381 sequentially takes in the battery remaining amount data indicating the battery remaining amount supplied from the battery, and stores the data at a predetermined position in the DRAM. The sensor data, image data, audio data, and remaining battery data stored in the DRAM are used when the main control unit 381 controls the operation of the humanoid robot device 200.
[0145]
The main control unit 381 reads the control program at the initial stage when the power of the humanoid robot device 200 is turned on, and stores the control program in the DRAM. In addition, the main control unit 381, based on the sensor data, image data, audio data, and battery remaining amount data sequentially stored in the DRAM from the main control unit 381, as described above, and from the user, Judge whether or not there is an instruction and the action. Further, the main control unit 381 determines an action according to its own situation based on the determination result and the control program stored in the DRAM, and drives the necessary actuator based on the determination result, thereby making the humanoid robot The device 200 is caused to take actions such as so-called “gesture” and “hand gesture”.
[0146]
Therefore, the humanoid robot device 200 can determine its own and surrounding conditions based on the control program, and can act autonomously according to instructions and actions from the user.
[0147]
【The invention's effect】
According to the present invention, there is provided a robot apparatus in which an action appears autonomously and the action is controlled in accordance with input information from the outside, wherein a wireless tag (a so-called RFID tag) provided on an object existing outside is provided. ) To read the data stored in the wireless tag, and control the action based on the data read by the wireless tag reading means. Confirmation of the information of the object and identification of the object, which were difficult to be detected by various sensors, are performed by the information related to the object according to the data stored in the wireless tag (RFID tag) by the wireless tag reading means. It can be performed by reading certain target-related information, and can effectively perform object recognition and the like even when the external environment is dark.
[0148]
Here, by including, as the target-related information, behavior information on the behavior of the robot device, a method of operation, and environmental information on an external environment that regulates the behavior and operation of the robot device, a stepped portion, a wall, or the like. When approaching, the user can recognize the step, the wall, and the like, and can take an action to avoid the step, the wall, and the like, such as stopping or moving backward.
[0149]
In addition, by including, as the target related information, relation information (family relation, master-slave relation, and the like) related to a relation constructed by the robot apparatus with an external target (a human, an animal, another robot apparatus, and the like), It is possible to easily realize an action to build a high-level relationship such as a parent-child relationship or a master-slave relationship.
[0150]
In this case, by providing a storage unit in which a table in which the data read by the wireless tag reading unit and the target related information are associated is recorded, the control unit can obtain the data associated with the data read by the wireless tag reading unit. The behavior can be controlled based on the obtained target-related information.
[0151]
In addition, by directly storing the target related information in the wireless tag itself, the above behavior can be controlled according to the state recognition information based on the target related information directly read from the data from the wireless tag. .
[0152]
Therefore, according to the robot apparatus of the present invention, it is possible to easily recognize information of an external target which has been difficult to detect with a microphone, a CCD camera, or a touch sensor, which is a conventional sensor of the robot. .
[Brief description of the drawings]
FIG. 1 is a perspective view illustrating an example of an external configuration of a robot apparatus according to an embodiment of the present invention.
FIG. 2 is a block diagram showing an example of an internal configuration of the robot device shown in FIG.
FIG. 3 is a block diagram showing a functional configuration example of a controller 10 in the configuration of FIG. 2;
FIG. 4 is a diagram for explaining data processing by an emotion / instinct model unit.
FIG. 5 is a diagram showing an action model.
FIG. 6 is a diagram for explaining processing of a posture transition mechanism unit 54;
FIG. 7 is a block diagram illustrating a configuration example of an ID recognition unit 50E.
FIG. 8 is a diagram illustrating a specific example of a table of ID numbers of RFID tags and target related information corresponding to the ID numbers.
FIG. 9 is a diagram showing a specific example of an ID table representing a relationship between an ID number for identifying a wall, a step portion, and the like and target related information.
10 is a diagram for explaining a specific example of an operation when the robot device having the ID table shown in FIG. 9 approaches a place having a step.
11 is a diagram illustrating an operation in which a robot apparatus having the ID table illustrated in FIG. 9 approaches a place having a step and reads information of an RFID tag.
12 is a diagram illustrating a state in which the robot apparatus having the ID table illustrated in FIG. 9 moves backward after approaching a place having a step and reading information of the RFID tag.
13 is a diagram for explaining a specific example of an operation when a robot device having the ID table shown in FIG. 9 approaches a wall.
14 is a diagram illustrating an operation in which a robot apparatus having the ID table illustrated in FIG. 9 approaches a wall and reads information of an RFID tag.
FIG. 15 is a diagram illustrating a backward movement of the robot apparatus having the ID table illustrated in FIG. 9 after approaching a wall and reading information of the RFID tag.
FIG. 16 is a diagram showing a specific example of an ID table representing a relationship between an ID number for identifying a master-slave relationship, a parent-child relationship, and the like and target related information.
17 is a diagram for explaining a specific example of an operation when the robot apparatus having the ID table shown in FIG. 16 approaches the owner.
18 is a diagram illustrating an operation in which a robot apparatus having the ID table illustrated in FIG. 16 approaches an owner and reads information of an RFID tag.
FIG. 19 is a diagram illustrating a “standing” operation after the robot apparatus having the ID table illustrated in FIG. 16 approaches the owner and reads information of the RFID tag.
20 is a diagram illustrating an operation in which the robot apparatus having the ID table illustrated in FIG. 16 moves back toward another person who is not the owner.
FIG. 21 is a diagram illustrating an example of a ring provided with an RFID tag.
22 is a diagram for explaining a specific example of an operation when the robot device having the ID table shown in FIG. 16 approaches the mother robot device.
23 is a diagram illustrating an operation in which a robot device having the ID table shown in FIG. 16 approaches the mother robot device and reads information of an RFID tag.
24 is a diagram illustrating a “follow-up” operation after the robot device having the ID table illustrated in FIG. 16 approaches the mother robot device and reads information of the RFID tag.
FIG. 25 is an external view illustrating an external appearance of a humanoid robot device viewed from the front as one configuration example of another embodiment of the robot device to which the present invention is applied.
26 is an external view illustrating the external appearance of the humanoid robot device shown in FIG. 25 when viewed from behind.
FIG. 27 is a diagram schematically illustrating a degree-of-freedom configuration model of the humanoid robot device illustrated in FIG. 25;
FIG. 28 is a diagram illustrating a control system configuration of the humanoid robot device shown in FIG. 25.
[Explanation of symbols]
Reference Signs List 10 controller, 10A CPU, 10B memory, 15 microphone, 16 CCD camera, 17 touch sensor, 18 speaker, 19 RFID reader section 41 collation section 42 ID table storage section 50 sensor input processing section, 50A voice recognition section, 50B image recognition section, 50C pressure processing section, 50D environment recognition section, 51 emotion / instinct model section, 52 action decision mechanism section, 53 posture transition mechanism section, 54 control mechanism section, 55 voice synthesis section, 56 sound processing section

Claims (30)

A robot device that causes an action to appear autonomously and controls the action according to input information from the outside,
Wireless tag reading means for reading data stored in the wireless tag from a wireless tag provided on an object existing outside;
A robot device comprising: control means for controlling the behavior based on target-related information that is information related to the target corresponding to data of the wireless tag read by the wireless tag reading unit. A storage unit in which a table that associates the data read by the wireless tag reading unit with the target related information that is information on the external target is recorded,
2. The robot apparatus according to claim 1, wherein the control unit controls the behavior based on the target related information read from the storage unit in association with data read by the wireless tag reading unit. . The target related information, which is information on the external target, is recorded in the wireless tag,
The wireless tag reading means reads the target-related information from data stored in the wireless tag,
2. The robot apparatus according to claim 1, wherein the control unit controls the behavior based on the target related information read by the wireless tag reading unit. The target-related information, which is information on the external target, includes behavior information on a behavior of the robot apparatus, an operation method,
The robot apparatus according to claim 1, wherein the control unit controls the behavior based on the behavior information included in the target related information. The above behavior information includes at least one of stop, retreat, forward, right turn, left turn, backward movement, jump, skip, face down, squatting, upright, handstand, supine, inversion, rotation, facial expression change, tail change, limb change The robot apparatus according to claim 4, wherein the number is one. The target-related information, which is information on the external target, includes environmental information on an external environment that regulates the behavior and operation of the robot device,
The robot apparatus according to claim 1, wherein the control unit controls the behavior based on the environment information included in the target related information. The environmental information is at least one of stairs, floors, walls, steps, holes, pillars, corners, entrances, living rooms, dining rooms, Japanese-style rooms, Western-style rooms, bathrooms, windows, passageways, living rooms, and room location information. 7. The robot device according to claim 6, wherein: The target-related information, which is information about the external target, includes the environmental information, the behavior of the robot device, and behavior information on a method of operation,
7. The robot apparatus according to claim 6, wherein the control unit controls the behavior based on the environment information and the behavior information included in the target related information. The above behavior information includes at least one of stop, retreat, forward, right turn, left turn, backward movement, jump, skip, face down, squatting, upright, handstand, supine, inversion, rotation, facial expression change, tail change, limb change 9. The robot apparatus according to claim 8, wherein the number is one. The target related information, which is information on the external target, includes relationship information on a relationship that the robot apparatus builds with the external target,
The robot apparatus according to claim 1, wherein the control unit controls the action based on the related information included in the target related information. The relationship information is at least one of a family relationship, a blood relationship, a friend relationship, a master-slave relationship, a regional relationship, a sports member, a capitalist / worker relationship, a buying and selling relationship, a romance relationship, and a customer relationship,
The control means may be configured such that the robot apparatus is based on the relation information, and the grandfather, grandmother, father, mother, brother, sister, brother, sister, friend, neighbor, cousin, uncle, grandmother, alumni, teacher, student, team Mate, rival, enemy, relative, others, acquaintance, master, servant, servant, pet, guide dog, woman, male, lover, boy, girl, adult, child, baby, old man, adolescent, married, unmarried, widow , Volunteers, nurses, nurses, doctors, guides, waitresses, waiters, stewardess, attendants, station staff, traffic clerks, clerks, customers, sellers, security guards, police, patrols, firefighters, guardmen, salesmen, The robot apparatus according to claim 10, wherein the action is controlled so as to play at least one of a cleaning person and an entertainer. An expression means for expressing an emotion by the above action,
Driving means for driving the above-mentioned expression means,
2. The robot according to claim 1, wherein the control unit controls the driving unit based on target related information that is information related to the target according to the data read by the wireless tag reading unit. apparatus. 13. The robot apparatus according to claim 12, wherein the display unit is at least one of a movable unit, a sound output unit, and a light emitting unit. The expression means is a plurality of types of expression parts, and the control means controls the driving of the plurality of types of expression parts based on the operation information read from the storage means. Item 13. The robot device according to item 12. 2. The robot apparatus according to claim 1, wherein the robot action that appears based on the target-related information is configured by at least an instinct element or an emotion element. The instinct factors are fatigue, heat or body temperature, pain, appetite or hunger, dryness, thirst, affection, curiosity, elimination. ) Or at least one of sexual, wherein the emotional component is happiness, sadness, anger, surprise, disgust, fear. , Frustration, boredom, sleep (somnolence), sociability (gregariousness), patience, tense, relaxed, relaxed, alertness, guilt, spite 16. The robot apparatus according to claim 15, wherein the robot apparatus is at least one of loyalty, loyalty, submission, and jealousy. 2. The robot device according to claim 1, wherein the appearance of the robot device has an appearance shape imitating an animal, and the wireless tag reading means is provided on a face portion of the animal. A contact detection unit for detecting a contact; a detection result by the contact detection unit is transmitted to the control unit; and when the control unit detects a contact based on the detection result, the wireless tag reading unit for a certain period of time. 2. The robot apparatus according to claim 1, wherein the operation is performed. Optical detection means for optically detecting the presence or absence or state of an object is provided, and the detection result by the optical detection means is transmitted to the control means, and the control means determines the presence or absence or state of the object based on the optical detection result. 2. The robot apparatus according to claim 1, wherein when detected, the operation of the wireless tag reading unit is performed for a predetermined time. A method of controlling a robot apparatus in which an action is caused to appear autonomously and the action is controlled according to input information from the outside,
A wireless tag reading step of reading data stored in the wireless tag from a wireless tag provided on an object existing outside;
A control step of controlling the behavior based on target-related information that is information related to the target in accordance with the data read in the wireless tag reading step. The robot apparatus has a storage unit in which a table in which the data read by the wireless tag reading unit and the target related information that is information on the external target are stored is recorded.
21. The robot apparatus according to claim 20, wherein, in the control step, the behavior is controlled based on the target-related information read from the storage means in association with data read by the wireless tag reading means. Control method. The target related information, which is information on the external target, is recorded in the wireless tag,
In the wireless tag reading step, the target related information is read from the data stored in the wireless tag,
2. The control method according to claim 1, wherein, in the control step, the behavior is controlled based on the target related information read by the wireless tag reading unit. The target-related information, which is information on the external target, includes behavior information on a behavior of the robot apparatus, an operation method,
The above behavior information includes at least one of stop, retreat, forward, right turn, left turn, backward movement, jump, skip, face down, squatting, upright, handstand, supine, inversion, rotation, facial expression change, tail change, limb change One,
21. The control method for a robot device according to claim 20, wherein, in the control step, the behavior is controlled based on the behavior information included in the target-related information. The wireless tag in which the behavior information related to the behavior or the method of operation of the robot device is recorded is attached to a front surface, inside or back surface of a predetermined member, and the member is installed on a target existing outside. The control method of a robot device according to claim 23, wherein the behavior of the robot device is controlled by the following. The member to which the wireless tag is attached is at least one of a sheet of paper or vinyl, a tape, a seal, a string, a cable, a card, a pen, a curtain, a carpet, a cloth, and a stuffed animal. Item 30. The control method for a robot device according to item 24. 25. The robot according to claim 24, wherein there are a plurality of the wireless tags attached to the member, and the plurality of the wireless tags are spaced from each other on a front surface, an inside, or a back surface of the member. How to control the device. The target related information, which is information on the external target, includes relationship information on a relationship that the robot apparatus builds with the external target,
21. The control method of a robot device according to claim 20, wherein in the control step, the action is controlled based on the relation information included in the target related information. When the robot device reads the related information from the wireless tag, the robot device constructs a creature with a surrounding object between the external device attached with the wireless tag based on the related information. 28. The control method of a robot device according to claim 27, wherein the action or operation is performed so as to construct a pseudo-relation similar to the relationship in which the robot is related. The relationship information is at least one of a family relationship, a blood relationship, a friend relationship, a master-slave relationship, a regional relationship, a sports member, a capitalist / worker relationship, a buying and selling relationship, a romance relationship, and a customer relationship,
In the control step, based on the relation information, the robot apparatus may be a grandfather, grandmother, father, mother, brother, sister, brother, sister, friend, neighbor, cousin, uncle, grandmother, alumni, teacher, student, team Mate, rival, enemy, relative, others, acquaintance, master, servant, servant, pet, guide dog, woman, male, lover, boy, girl, adult, child, baby, old man, adolescent, married, unmarried, widow , Volunteers, nurses, nurses, doctors, guides, waitresses, waiters, stewardess, attendants, station staff, traffic clerks, clerks, customers, sellers, security guards, police, patrols, firefighters, guardmen, salesmen, The control method of a robot device according to claim 27, wherein the action is controlled so as to play at least one of a cleaning person and an entertainer. The wireless tag is provided on a small object worn by the external object, and the small object is a sheet such as a ring, a collar, a necklace, a clock, a belt, a card, a pen, a button, a vinyl, a sheet, a tape, a seal, a coin, 28. The control method for a robot device according to claim 27, wherein the control device is configured by at least one of a string, a cable, a cloth, a metal, a plastic, wood, stone, glass, and paper.

Images